JP2017117413A - Information processing device, information processing method, and information processing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow the current position of a host vehicle or another vehicle to be corrected precisely.SOLUTION: An information processing device comprises: a determination unit 101 that determines a communication range where a host vehicle can communicate with another vehicle by inter-vehicle communication; an acquisition unit 102 that acquires the current position of the other vehicle from the other vehicle; and a correction unit 103 that corrects and outputs the current position of the other vehicle such that it is located within the communication range if the acquired current position of the other vehicle is out of the communication range. The acquisition unit acquires the current position of the host vehicle. The correction unit 103 compares position detection accuracy of the host vehicle with position detection accuracy of the other vehicle, and corrects the current position with lower position detection accuracy.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information processing apparatus, an information processing method, and an information processing program for obtaining a communicable range. However, the use of the present invention is not limited to the information processing apparatus, the information processing method, and the information processing program.

  Conventionally, a technique for displaying the position of another vehicle on a map based on the position and speed acquired from the other vehicle and the position and speed of the own vehicle has been disclosed (for example, see Patent Document 1 below).

JP 2014-71839 A

  In the above conventional technique, when the position accuracy of the other vehicle is poor and the acquired position information of the other vehicle is not accurate, a problem that the wrong position of the other vehicle is displayed on the map is given as an example. In addition, there is a problem that erroneous notification is made in collision prevention support at an intersection or the like.

  In order to solve the above-described problems and achieve the object, an information processing apparatus according to claim 1 includes a determination unit that determines a communication range in which the own vehicle can communicate with another vehicle by inter-vehicle communication, and the other vehicle. If the acquired current position of the other vehicle is out of the communication range, the acquisition unit for acquiring the current position of the other vehicle from the communication range is corrected so that the current position of the other vehicle is within the communication range. And a correction means for outputting.

  The information processing apparatus according to the invention of claim 7 is configured to determine a communication range in which the own vehicle can communicate with another vehicle by inter-vehicle communication, and obtain a current position of the other vehicle from the other vehicle. And when the acquired current position of the other vehicle is highly likely to be present at a predetermined incommunicable position within the communication range, the current position of the other vehicle is positioned at the incommunicable position. Correction means for correcting the output and outputting the correction.

  An information processing method according to a tenth aspect of the present invention is the information processing method implemented by the information processing apparatus, wherein a determination step of determining a communication range in which the own vehicle can communicate with another vehicle by inter-vehicle communication, and the other vehicle The acquisition step of acquiring the current position of the other vehicle from and if the acquired current position of the other vehicle is outside the communication range, the current position of the other vehicle is corrected to be within the communication range. And a correction step of outputting.

  According to an eleventh aspect of the present invention, there is provided an information processing method implemented by an information processing apparatus, wherein a determination step of determining a communication range in which the own vehicle can communicate with another vehicle by inter-vehicle communication; The acquisition step of acquiring the current position of the other vehicle, and when the acquired current position of the other vehicle is highly likely to be present at a predetermined incommunicable position within the communication range, And a correction step of correcting and outputting the current position so as to be positioned at the position where communication is impossible.

  An information processing program according to claim 12 causes a computer to execute the information processing method according to claim 10 or 11.

FIG. 1 is a block diagram of an example of a functional configuration of the information processing apparatus according to the embodiment. FIG. 2 is a flowchart illustrating an example of a processing procedure of the information processing apparatus according to the embodiment. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation apparatus according to the embodiment of the information processing apparatus. FIG. 4 is a diagram for explaining positions where communication is impossible within the communication range according to the embodiment. FIG. 5 is a diagram illustrating an example of correcting the current position using inter-vehicle communication according to the embodiment. FIG. 6 is a diagram illustrating another correction example of the current position using inter-vehicle communication according to the embodiment. FIG. 7 is a flowchart illustrating an example of a current position correction process using inter-vehicle communication according to the embodiment. FIG. 8 is a diagram illustrating an example in which the radio wave intensity is used for correcting the current position according to the embodiment. FIG. 9 is a diagram for explaining an example of learning the communication range according to the embodiment. FIG. 10 is a diagram illustrating a communication range learning process example according to the embodiment. FIG. 11 is a flowchart illustrating an example of a communication range learning process according to the embodiment.

(Embodiment)
Exemplary embodiments of an information processing apparatus, an information processing method, and an information processing program according to the present invention will be explained below in detail with reference to the accompanying drawings. In the following description, a configuration in which the own vehicle and another vehicle directly communicate by inter-vehicle communication will be described as an example.

  In inter-vehicle communication, information is transmitted to and received from other vehicles within the communication range of the own vehicle. At this time, the own vehicle broadcasts vehicle information to an unspecified number of other vehicles, and receives vehicle information broadcast from other vehicles. The vehicle information includes vehicle identification information (vehicle ID), latitude / longitude information indicating the position of the vehicle, vehicle speed information indicating the travel speed of the vehicle, travel direction information indicating the travel direction of the vehicle, and the vehicle traveling Driving road information indicating the road number (including the lane number) of the other road may be included. The own vehicle can identify a plurality of vehicles (other vehicles) based on the received vehicle information of the other vehicles.

  FIG. 1 is a block diagram of an example of a functional configuration of the information processing apparatus according to the embodiment. The information processing apparatus 100 includes a determination unit 101, an acquisition unit 102, and a correction unit 103.

  The determination unit 101 determines a communication range in which the own vehicle can communicate by inter-vehicle communication. The communication range is determined in advance by the power (radio wave intensity) of radio waves used for inter-vehicle communication. For example, the communication range is set within a circle with a radius Xm centered on the own vehicle. If the vehicle moves, the communication range moves in the same way for the distance moved.

  The current position of the vehicle is detected by using a GPS, an acceleration sensor, or the like (latitude and longitude). The determination unit 101 sets a communication range around the current position of the host vehicle.

  The acquisition unit 102 acquires current position information (current position) of another vehicle from another vehicle via inter-vehicle communication. The other vehicle detects a running position (latitude and longitude) using a GPS, an acceleration sensor, or the like, and the acquiring unit 102 acquires the current position from the other vehicle located within the communication range. Similarly, the acquisition unit 102 acquires the current position of the host vehicle.

  The correction | amendment part 103 correct | amends the present position which the other vehicle transmitted based on the present position acquired from the other vehicle, and the communication range information of the own vehicle's inter-vehicle communication.

  For example, if the current position acquired from the other vehicle is located outside the communication range, the correction unit 103 corrects the current position of the other vehicle to be within the communication range. That is, since the current position can be acquired from the other vehicle because the vehicle can actually communicate with the other vehicle by the inter-vehicle communication, the current position of the other vehicle is moved within the communication range.

  On the other hand, if the current position acquired from another vehicle is located within the communication range, but it is highly possible that the other vehicle is located at a position where communication is not possible, the current position of the other vehicle is within the communication range. Even if it exists, it can correct | amend to the position which cannot communicate.

  When correcting the current position of the other vehicle, the correction unit 103 moves the current position of the other vehicle to a position within the communication range (or out of the communication range) along the traveling direction of the road traveling at the current position. .

  By the correction by the correction unit 103, for example, the current position of the other vehicle displayed and output on the display unit of the host vehicle can be corrected.

  FIG. 2 is a flowchart illustrating an example of a processing procedure of the information processing apparatus according to the embodiment. An example of correcting the current position of another vehicle performed by the information processing apparatus 100 of the own vehicle will be described. The processing in FIG. 2 is performed on the assumption that the vehicle position accuracy is high and has a predetermined communication range.

  First, in the information processing apparatus 100, the determination unit 101 determines a communication range in which the own vehicle can communicate by inter-vehicle communication (step S201). Information on the communication range of the vehicle is held in a memory (not shown) or the like. And the determination part 101 changes the communication range centering on the own vehicle corresponding to the movement of the present position of the own vehicle at the time of the movement of the own vehicle.

  Next, the acquisition unit 102 acquires the current position of the other vehicle transmitted by the other vehicle through inter-vehicle communication (step S202). And the correction | amendment part 103 judges whether the present position transmitted from the other vehicle is in the communication range of the own vehicle (step S203).

  If the current position transmitted from the other vehicle is within the communication range of the own vehicle (step S203: Yes), the correction unit 103 does not correct the current position of the other vehicle and ends the process. On the other hand, if the current position transmitted from the other vehicle is outside the communication range of the own vehicle (step S203: No), the current position of the other vehicle is corrected to be within the communication range of the own vehicle (step S204), and the process is terminated. To do.

  In addition, when the current position acquired from the other vehicle is located within the communication range, but the possibility that the other vehicle is located at a position where communication is not possible is high, the correcting unit 103 Can be corrected so as to be located at a position where communication is impossible within the communication range. For example, when a state occurs in which a shielding object that blocks communication such as a building that interferes with communication is located between the own vehicle and another vehicle, communication is interrupted. In this case, even if the other vehicle is actually located within the circle of the communication range, the communication that has been performed between the own vehicle and the other vehicle is temporarily interrupted by the shielding object.

  In such a case, the correction unit 103 determines that a part of the circular communication range that is blocked by the incommunicable shielding object is an incommunicable position, and the other vehicle is in the incommunicable position. Correct as follows. For example, when the building is located on a line connecting the own vehicle and the other vehicle with a straight line, the other vehicle is corrected so as to be located on the road behind the building as viewed from the own vehicle. Further, the position to be corrected may be corrected based on the speed of the other vehicle before the communication is interrupted and moved for the time after the communication is interrupted.

  By the way, the current position of the host vehicle has a predetermined position detection accuracy, but changes depending on the situation. For example, when the number of GPS satellite receptions is large or when the sensor error is small, the position detection accuracy is high. On the other hand, when the GPS reception status changes, for example, when the number of GPS satellites received during long-distance tunnel traveling decreases, the position detection accuracy decreases. Further, when the vehicle travels on a straight road for a long time, sensor errors accumulate and the position detection accuracy decreases.

  Further, a communication range corresponding to each radio wave intensity may be set in a plurality of stages with respect to the communication range of the own vehicle set in advance. As a result, when the current position of the other vehicle is corrected, the other vehicle can be moved by a movement amount corresponding to the radio wave intensity. For example, a plurality of communication ranges with different radii are set corresponding to a plurality of levels of radio wave intensity around the vehicle position. And when the own vehicle receives the information of other vehicles, the own vehicle measures the radio field intensity between the other vehicles. Thereby, the own vehicle can move another vehicle to a position corresponding to the radio wave intensity.

  In the correction process, the case where the detection accuracy of the current position of the host vehicle is high has been described as an example. When the detection accuracy of the current position of the host vehicle is high, the detection accuracy of the current position of the host vehicle is trusted and the communication range is set based on the current position. Accordingly, as described above, the correction unit 103 corrects the current position of the other vehicle to be within the communication range.

  On the other hand, when the detection accuracy of the current position of the host vehicle is low, the detection accuracy of the current position of the other vehicle is trusted only when the detection accuracy of the current position of the other vehicle is high. In order to determine on the own vehicle side whether or not the detection accuracy of the current position of the other vehicle is high, the other vehicle may transmit information on the detection accuracy together with the current position to the own vehicle. For example, the other vehicle transmits the number of GPS reception satellites and the error occurrence state of the sensor together with the current position to the own vehicle.

  And the correction | amendment part 103 of the own vehicle, when the detection accuracy of the present position of the own vehicle is low and the detection accuracy of the current position of the other vehicle is high, the current position of the other vehicle enters the communication range of the own vehicle. Thus, the current position (and communication range) of the own vehicle is corrected.

  According to the above embodiment, the information processing apparatus can correct the current position of another vehicle based on the communication range of inter-vehicle communication. For example, the current position can be acquired from another vehicle by inter-vehicle communication, but when the current position of the other vehicle is outside the communication range, the current position of the other vehicle is corrected to be within the communication range. Further, when the current position cannot be acquired from another vehicle that should be within the communication range, the current position of the other vehicle is corrected to be a position where communication is not possible within the communication range.

  Thereby, the position detection accuracy of the current position of the other vehicle can be increased. And the present position of the other vehicle displayed on the display part of the own vehicle can be displayed with high positional accuracy, and erroneous notification of safe driving support can be reduced.

  Next, examples of the present invention will be described. In the embodiment, an example in which the navigation device 300 is mounted on the own vehicle and the navigation device 300 executes the function of the information processing device 100 will be described.

(Hardware configuration of navigation device 300)
FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation apparatus according to the embodiment of the information processing apparatus. In FIG. 3, a navigation device 300 includes a CPU 301, ROM 302, RAM 303, magnetic disk drive 304, magnetic disk 305, optical disk drive 306, optical disk 307, audio I / F (interface) 308, microphone 309, speaker 310, input device 311, A video I / F 312, a display 313, a communication I / F 314, a GPS unit 315, various sensors 316, and a camera 317 are provided. Each component 301 to 317 is connected by a bus 320.

  The CPU 301 governs overall control of the navigation device 300. The ROM 302 records various programs including a boot program and an information processing program. The RAM 303 is used as a work area for the CPU 301. That is, the CPU 301 controls the entire navigation device 300 by executing various programs recorded in the ROM 302 while using the RAM 303 as a work area.

  The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disk drive 306 controls reading / writing of data with respect to the optical disk 307 according to the control of the CPU 301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disc 307, a writable recording medium can be used. In addition to the optical disk 307, an MO, a memory card, or the like can be used as a removable recording medium.

  Examples of information recorded on the magnetic disk 305 and the optical disk 307 include map data, vehicle information, road information, travel history, and the like. Map data is used when searching for routes in a car navigation system. Background data that represents features (features) such as buildings, rivers, the ground surface, and energy supply facilities, and road shapes that represent road shapes with links and nodes. It is vector data including data.

  The audio I / F 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. For example, the microphone 309 is installed in a dashboard portion of a vehicle, and the number thereof may be one or more. From the speaker 310, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 308 is output.

  Examples of the input device 311 include a remote controller having a plurality of keys for inputting characters, numerical values, various instructions, and the like, a keyboard, and a touch panel. The input device 311 may be realized by any one form of a remote control, a keyboard, and a touch panel, but may be realized by a plurality of forms.

  The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 is output from, for example, a graphic controller that controls the entire display 313, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling the display 313 based on the image data to be processed.

  The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 313, for example, a TFT liquid crystal display, an organic EL display, or the like can be used.

  The camera 317 captures an image including a road outside the vehicle. The image may be either a still image or a moving image. For example, the outside of the vehicle is photographed by the camera 317, and the photographed image is analyzed by the CPU 301, or a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312 Or output to

  The communication I / F 314 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 301. Communication networks that function as networks include in-vehicle communication networks such as CAN and LIN (Local Interconnect Network), public line networks and mobile phone networks, DSRC (Dedicated Short Range Communication), LAN, and WAN. The communication I / F 314 is, for example, a public line connection module, an ETC (non-stop automatic fee payment system: registered trademark) unit, an FM tuner, a VICS (Vehicle Information and Communication System: registered trademark) / beacon receiver, or the like.

  The GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 315 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 316 described later. The information indicating the current position is information for specifying one point on the map data such as latitude / longitude and altitude.

  The various sensors 316 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and a tilt sensor. The output values of the various sensors 316 are used for the calculation of the current position of the vehicle by the CPU 301 and the amount of change in speed and direction.

  The CPU 301 executes a predetermined program using the programs and data recorded in the ROM 302, the RAM 303, the magnetic disk 305, the optical disk 307, etc., shown in FIG. 3, so that the determination unit 101 of the information processing apparatus 100 shown in FIG. A function related to information processing in the correction unit 103 is realized.

  Further, using the communication I / F 314 in FIG. 3, vehicle-to-vehicle communication is performed with other vehicles by short-range wireless communication using radio waves. With this communication, the function of the acquisition unit 102 in FIG. 1 can be realized.

(About correction of the current position of other vehicles)
Current position detection methods using GPS, sensors, etc. may not have sufficient position detection accuracy. As described above, based on the number of GPS satellites received, the position detection error of the GPS itself, the accumulated error of the sensor due to continuous running of the straight line, etc., the position detection accuracy changes for each vehicle and for the same vehicle. In the driving support for the driver or the like when using the above-described inter-vehicle communication, the position detection accuracy of the current position of the own vehicle and the other vehicle is important for the notification and control of the driving support. For this reason, it is necessary to improve the position detection accuracy of the current position.

  FIG. 4 is a diagram for explaining positions where communication is impossible within the communication range according to the embodiment. In the example illustrated in FIG. 4, the inter-vehicle communication between the own vehicle 400 and the other vehicle 401 is illustrated as being shielded by a shield 410 such as a building. In such a case, the navigation device 300 of the own vehicle 400 cannot detect the position of the other vehicle 401 during the period in which the inter-vehicle communication is temporarily interrupted, and cannot perform driving support.

  In the case of the example in FIG. 4, when the own vehicle 400 and the other vehicle 401 are traveling toward the same intersection 411, the own vehicle 400 accurately determines the current position of the other vehicle 401 by temporarily interrupting inter-vehicle communication. The vehicle cannot be detected, and driving assistance based on the current position of the other vehicle 401 cannot be performed for the driver of the own vehicle 400. The intersection 411 has poor visibility due to the shield 410 for both the own vehicle 400 and the other vehicle 401. Even if the vehicle-to-vehicle communication is interrupted by the shield 410, it is necessary to accurately detect the current position of the other vehicle 401 with respect to the own vehicle 400 and to provide safe driving support.

(Example of correction of current position using inter-vehicle communication 1)
FIG. 5 is a diagram illustrating an example of correcting the current position using inter-vehicle communication according to the embodiment. In FIG. 5, a case where communication is performed with another vehicle 401 at a position where the own vehicle 400 cannot communicate in inter-vehicle communication between the own vehicle 400 and the other vehicle 401 will be described as an example.

  As shown in FIG. 5A, the own vehicle 400 has a communication range A. Here, it is assumed that the own vehicle 400 has received the current position from the other vehicle 401 by inter-vehicle communication. In this case, the navigation device 300 of the own vehicle 400 changes the correction process based on the positional accuracy of the own vehicle 400. The state shown in FIG. 5A is a state before the current position correction process is performed. For example, the display state of the display unit of the navigation device 300 is shown. Note that the communication range A may not be displayed on the display screen.

  For example, when the navigation apparatus 300 determines that the position accuracy of the current position of the host vehicle 400 is sufficiently high, the navigation apparatus 300 corrects the current position B of the other vehicle 401 as shown in FIG. On the other hand, when it is determined that the position accuracy of the current position of the own vehicle 400 is low and the position accuracy of the other vehicle 401 is sufficiently high, the current position C of the own vehicle 400 is corrected as shown in FIG. To do.

  The position detection accuracy of the current position can be determined based on the number of GPS receptions, the degree of sensor error, and the like. For example, when the number of GPS satellites received is a predetermined number or more, or when the vehicle is not traveling on a straight road for a long time, it is determined that the sensor error is small. On the other hand, if the number of GPS satellites received is less than the predetermined number or if the vehicle is traveling on a straight road for a long time, it is determined that the sensor error is large. In the own vehicle 400, the navigation apparatus 300 determines the position detection accuracy of the current position based on the number of GPS receptions, the degree of sensor error, and the like. Also in the other vehicle 401, the navigation device 300 or the like determines the position detection accuracy of the current position based on the number of GPS receptions, the degree of sensor error, and the like, and transmits information on the position detection accuracy to the host vehicle 400. Thus, the own vehicle 400 can determine the position detection accuracy of the current position of the other vehicle 401.

  In the case of FIG. 5B, the position detection accuracy of the host vehicle 400 is sufficiently high. That is, the navigation device 300 of the host vehicle 400 determines that the current position of the host vehicle 400 and the communication range A are correct (high reliability). And the correction | amendment which moves so that the present position B of the other vehicle 401 may be located in the correction position B 'in the communication range A is performed.

  That is, the navigation device 300 of the own vehicle 400 can receive the information of the current position B from the other vehicle 401 by inter-vehicle communication, but the current position B of the other vehicle 401 is outside the communication range A. Then, since the position detection accuracy of the own vehicle 400 is sufficiently high and the current position B and the communication range A of the own vehicle 400 are correct, it is determined that the current position B transmitted by the other vehicle 401 is incorrect (there is an error).

  More specifically, the navigation device 300 determines that the current position B transmitted by the other vehicle 401 is located behind the actual position in the traveling direction. Then, until the current position B of the other vehicle 401 is located within the communication range A, the vehicle is moved forward in the traveling direction of the road 500 on which the other vehicle 401 is traveling to be a correction position B ′. In the example of FIG. 5B, the correction position B ′ of the other vehicle 401 is a position that overlaps the boundary of the communication range A. As a result, the current position of the other vehicle 401 can be brought closer to the actual position.

  In the case of FIG.5 (c), the position detection accuracy of the own vehicle 400 is low, and the position appearance accuracy of the current position B of the other vehicle is high. That is, the navigation device 300 of the own vehicle 400 determines that the current position C of the own vehicle 400 and the communication range A have an error (low reliability) and that the position detection accuracy of the current position B of the other vehicle 401 is high. To do. And the correction | amendment which moves so that the present position C of the own vehicle 400 may be located in correction | amendment position C 'is performed. In this case, the communication range A also moves to the correction position A ′ together with the correction position C ′.

  That is, the navigation device 300 of the own vehicle 400 can receive the information of the current position B from the other vehicle 401 by inter-vehicle communication, but the current position B of the other vehicle 401 is outside the communication range A. And since the position detection accuracy of the own vehicle 400 is low and the position detection accuracy of the other vehicle 401 is high, it is determined that the current position C of the own vehicle 400 is incorrect (there is an error).

  More specifically, the navigation device 300 determines that the current position C of the host vehicle 400 is located behind the actual position in the traveling direction. Then, the vehicle is moved forward in the traveling direction of the road 501 on which the host vehicle 400 is traveling until the communication range A of the host vehicle 400 is located at the position of the other vehicle 401, and is set as a correction position C ′. In the example of FIG. 5C, the correction position C ′ is a position where the boundary of the corrected communication range A ′ of the own vehicle 400 overlaps the current position B of the other vehicle 401. As a result, the current position of the host vehicle 400 can be brought closer to the actual position.

(Example of correction of current position using inter-vehicle communication 2)
FIG. 6 is a diagram illustrating another correction example of the current position using inter-vehicle communication according to the embodiment. In FIG. 6, a case where position information is not received from the other vehicle 401 located in the communication range A that can communicate with the own vehicle 400 in the inter-vehicle communication between the own vehicle 400 and the other vehicle 401 will be described as an example.

  As shown in FIG. 6A, the own vehicle 400 has a communication range A. Then, it is assumed that the own vehicle 400 has received the current position from the other vehicle 401 by inter-vehicle communication.

  Thereafter, as shown in FIG. 6B, it is assumed that inter-vehicle communication between the own vehicle 400 and the other vehicle 401 cannot be performed due to the movement of the other vehicle 401. At this time, it is assumed that the other vehicle 401 is in a state of being changed to a state where it is shielded by a shield 410 such as a building.

  In the communication range A, a range where the other vehicle 401 cannot communicate with the shielding object 410 on a straight line that virtually connects the host vehicle 400 and the other vehicle 401 is defined as a position 610 where communication is impossible. The incommunicable position 610 is an area in which a part of the communication range A facing the shield 410 with the vehicle 400 as the center (vertex) is cut into a substantially triangular shape.

  In this case, the navigation device 300 of the own vehicle 400 has been able to communicate with the other vehicle 401 until then, but when the other vehicle 401 suddenly becomes unable to communicate during the movement of the other vehicle 401, the other vehicle 401 is blocked by the shield 410. Judge that communication has become impossible. At this time, the navigation apparatus 300 moves when the other vehicle 401 moves within the communication range A at a predetermined speed (for example, an average speed of 30 km / h) and suddenly becomes unable to communicate during communication with the own vehicle 400. Is within communication range A. If the other vehicle 401 is within the communication range A, the presence / absence of the shield 410 on the linear position between the own vehicle 400 and the other vehicle 401 is determined. The presence / absence of the shielding object 410 is determined based on facility information (position information, size, height, etc.) such as a building serving as the shielding object.

  If the navigation apparatus 300 determines that there is the shielding object 410, the navigation apparatus 300 determines that the other vehicle 401 is located in the shadow of the shielding object, and corrects the current position B of the other vehicle 401. In the case of FIG. 6B, correction is performed to move the current position B of the other vehicle 401 so as to be positioned at the correction position B ′ positioned in the shadow of the shielding object 410. As a result, the current position of the other vehicle 401 can be brought closer to the actual position.

  In the example shown in FIG. 5 and FIG. 6, both the own vehicle 400 and the other vehicle 401 are traveling toward the same intersection 411, and the other vehicle 401 is more accurate with respect to the driver of the own vehicle 400. Since the current position can be notified, it becomes possible to perform driving support such as avoiding a collision at the intersection 411 with poor visibility by the shield 410.

(Example of current position correction using inter-vehicle communication)
FIG. 7 is a flowchart illustrating an example of a current position correction process using inter-vehicle communication according to the embodiment. A processing example performed by the navigation device 300 of the host vehicle 400 will be described. Steps S703 to S708 correspond to the correction process of the correction example shown in FIG. 5, and steps S711 to S715 correspond to the correction process of the correction example shown in FIG.

  First, the navigation apparatus 300 receives information (current position) from the other vehicle 401 by inter-vehicle communication (step S701).

  Next, the navigation device 300 is a newly communicated other vehicle 401 in which the other vehicle 401 has entered the communication range A, or is another vehicle 401 that can stably communicate within the communication range A. Is determined (step S702). The other vehicle 401 that has newly entered the communication range A can be identified by the ID of the other vehicle 401 or the like. The other vehicle 401 that can communicate stably within the communication range A is the other vehicle 401 that can communicate for a predetermined time.

  In step S702, if the other vehicle 401 can be newly communicated or the other vehicle 401 can communicate stably (step S702: Case 1), the navigation device 300 maintains the communication range A at the vehicle position. (Step S703). The navigation apparatus 300 can hold the communication range A in an internal memory in advance. Further, the communication range A corresponding to the current position can be acquired from a server or the like. On the other hand, in step S702, if there is another vehicle 401 that has been able to communicate stably but has not been able to communicate stably instead of the other vehicle 401 that has been able to communicate newly (step S702: Case 2), the navigation apparatus 300. Shifts to the process of step S711.

  Then, the navigation device 300 determines whether or not there is a communication range A (step S704). If there is a communication range A (step S704: Yes), the process proceeds to step S705, and if there is no communication range (step S704: No), the process proceeds to step S710.

  In step S705, the navigation apparatus 300 determines whether the current position of the other vehicle 401 is outside the communication range (step S705). If the current position of the other vehicle 401 is within the communication range A (step S705: Yes), the process proceeds to step S706. If the current position of the other vehicle 401 is not within the communication range A (step S705: No), step S710 is performed. Migrate to

  In step S706, the navigation apparatus 300 determines whether or not the position detection accuracy of the current position of the host vehicle 400 is high (step S706). If the position detection accuracy of the current position of the host vehicle 400 is high (step S706: Yes), the current position of the other vehicle 401 is corrected to be within the communication range A (see step S707, FIG. 5B), and step The process proceeds to S708.

  On the other hand, if the position detection accuracy of the current position of the host vehicle 400 is not high and the position detection accuracy of the position of the other vehicle 401 is high (step S706: No), the host vehicle 400 is positioned within the communication range A. Is corrected (step S709, see FIG. 5C), and the process proceeds to step S708.

  In step S710, the navigation apparatus 300 does not correct the current position with respect to the host vehicle 400 and the other vehicle 401 (step S710), and proceeds to step S708.

  In step S708, the navigation apparatus 300 performs a process for assisting safe driving (step S708), and ends the above process. When the current positions of the own vehicle 400 and the other vehicle 401 are corrected, information indicating the danger of a collision at the intersection 411 (see FIG. 4 and the like) is notified to the driver of the own vehicle 400. In addition, the navigation apparatus 300 may output information for brake braking to the vehicle control unit of the host vehicle 400. As shown in FIG. 4 and the like, when the own vehicle 400 and the other vehicle 401 are simultaneously located at the intersection 411 with poor visibility, the vehicle control unit performs automatic control such as deceleration based on the notification from the navigation device 300. Can do.

  Next, processing when the determination result in step S702 is Case 2 (there is another vehicle 401 that cannot communicate stably) will be described. In this case, the navigation device 300 determines whether communication from the other vehicle 401 is interrupted (step S711). At this time, the navigation device 300 communicates based on the behavior of the other vehicle 401 so far based on whether the other vehicle 401 has communicated with the host vehicle 400 and whether or not the other vehicle is located within the communication range A. Determine if there is any disruption.

  If the communication with the other vehicle 401 is interrupted (step S712: Yes), the navigation device 300 determines whether the current position of the other vehicle 401 can be corrected (step S713). On the other hand, if the communication with the other vehicle 401 is not interrupted (step S712: No), the above process is terminated.

  In step S713, for example, in the navigation device 300, the other vehicle 401 is located within the communication range A, and the shielding object 410 such as a building is located on a line segment connecting the own vehicle 400 and the other vehicle 401 with a straight line. Determine whether you are doing. And if there is the shielding object 410, it will judge that it can correct | amend (step S714: Yes), and will transfer to step S715. On the other hand, if there is no shielding object 410, since communication with the other vehicle 401 is possible, it determines that correction | amendment is impossible (step S714: No) and complete | finishes the above process.

  In step S715, it is determined that communication with the other vehicle 401 has been temporarily interrupted by the shield 410, and the navigation apparatus 300 corrects the current position of the other vehicle 401 to be positioned at a position 610 where communication is not possible (step S715, (Refer FIG.6 (b)). Thereafter, the process proceeds to step S708, and safe driving support processing is performed.

(Example of position correction according to radio wave intensity)
FIG. 8 is a diagram illustrating an example in which the radio wave intensity is used for correcting the current position according to the embodiment. The communication range A set and held in advance by the navigation device 300 can be set based on a predetermined radio wave intensity or the like.

  As shown in FIG. 8, it is a figure which shows the example of a setting of several concentric communication range A1-A3 for the predetermined | prescribed radio wave intensity centering on the own vehicle 400. FIG. The communication range A1 close to the host vehicle 400 has the highest radio field intensity, and the communication range A3 farthest from the host vehicle 400 has the lowest radio field intensity. The communication range A3 is located at the outermost part where communication is possible.

  The navigation device 300 of the own vehicle 400 measures the radio field intensity with the other vehicle 401 when the current position is received from the other vehicle 401 by maintaining these communication ranges A1 to A3. Thereby, the navigation apparatus 300 of the own vehicle 400 can correct | amend the present position of the other vehicle 401 so that it may become a position corresponding to the electromagnetic wave intensity with the other vehicle 401. FIG.

  For example, in the example shown in FIG. 8, it is assumed that the other vehicle 401 transmits the position B outside the communication range A, but the communication strength corresponds to the communication range A2. In this case, the navigation device 300 of the host vehicle 400 can correct the position to the current position B ″ where the other vehicle 401 is located within the communication range A2.

  In the example of FIG. 8, the radio wave intensity is set to three levels, but it may be set more finely in multiple levels. As a result, the current position B of the other vehicle 401 can be corrected to be a more accurate position. In FIG. 8, the example of correcting the current position B of the other vehicle 401 has been described. However, the present invention is not limited to this, and the current position C of the host vehicle 400 can be similarly corrected to be a more accurate position. it can.

(About communication range learning)
In the above description, it is assumed that the communication range A is known in advance and is set in the navigation device 300 of the host vehicle 400. In the following description, an example in which the communication range A of the own vehicle 400 is learned by inter-vehicle communication while the own vehicle 400 actually travels will be described. The own vehicle 400 and the other vehicle 401 are both moving bodies and each have a position detection error. However, the accuracy of the communication range A can be improved by the following learning.

  FIG. 9 is a diagram for explaining an example of learning the communication range according to the embodiment. The navigation device 300 of the host vehicle 400 starts learning in a state where the communication range A is not set (communication range is unknown). Then, as illustrated in FIG. 9A, the navigation device 300 of the host vehicle 400 acquires the current position of the other vehicle 401 that has been able to communicate by inter-vehicle communication from the other vehicle 401. Since there are a plurality of other vehicles 401 that can communicate with the own vehicle 400, for example, as shown in FIG. 9A, the communication range Aa (first communication possible range) centered on the own vehicle 400 (first point). ).

  Thereafter, as shown in FIG. 9B, when the predetermined time t has elapsed, the own vehicle 400 moves by the distance L. The navigation device 300 acquires the current position of the other vehicle 401 that has been able to communicate when the predetermined time t has elapsed from the other vehicle 401, and sets a communication range Ab (second communication possible range) centered on the own vehicle 400 (second point). Ask. Here, the creation of the communication range Ab in FIG. 9B is obtained based on the current positions of the other vehicles 401a to 401c that were communicating at the time of creating the communication range Aa in FIG. 9A, and FIG. Other vehicles that were not communicating at the time of creating the communication range Aa are excluded without being used to create the communication range Ab.

  Thereafter, the navigation device 300, for each constant distance L, communicates with the communication range A (third communication) obtained by superimposing the communication range Aa obtained in FIG. 9A and the communication range Ab obtained in FIG. 9B. (Possible range). Thereby, the communication range A can be set to the communication range A (Aa & Ab) corresponding to the distance L when the own vehicle 400 moves at the predetermined time t.

  By setting the fixed distance L corresponding to the position detection accuracy of the current position in the own vehicle 400, that is, an error in position detection, the communication range A including the position detection error of the own vehicle 400 can be set. become.

  FIG. 10 is a diagram illustrating a communication range learning process example according to the embodiment. Although the outline of learning of the communication range A has been described with reference to FIG. 9, a specific example of learning processing will be described with reference to FIG. A plurality of other vehicles 401 (401a to 401n) are located around the own vehicle 400, and the current position is transmitted to the own vehicle 400 by inter-vehicle communication.

  In this case, as shown in FIG. 10A, the own vehicle 400 sets the position of the other vehicle 401 that can communicate by inter-vehicle communication as one point on the map, and sets the set as the communication range A of the own vehicle 400. Used to form. When a current position of another vehicle 401 (401a to 401n) can be received at a certain time as shown in FIG. 10 (a), the navigation device 300 of the own vehicle 400 communicates as shown in FIG. 10 (b). The communicable range a can be set based on the area where the other vehicle 401 is connected.

  The communicable range a has a shape along the road, but in order to make it a predetermined area (area), the other vehicle 401 (in the example of FIG. For the vehicles 401a, 401b, 401c), the communication range A can be obtained by obtaining a circle of radius r centered on the own vehicle 400.

  At this time, the navigation device 300 can obtain the size of the point of the other vehicle 401 based on the vehicle length and vehicle width information of the other vehicle 401 acquired together with the current position by inter-vehicle communication. Alternatively, the point size of the other vehicle 401 can be obtained based on the reliability of the position detection accuracy of the current position of the other vehicle 401. Since the other vehicle 401 having a small point has a high reliability of the current position, the reliability of the communicable range a can be improved by using a point having the highest reliability when obtaining the communicable range a.

  An example of information indicating the reliability of the current position of the other vehicle 401 is the following inter-vehicle communication message guideline p. 33 DE_position acquisition information acquisition, etc. “700 MHz Band Intelligent Transport System Experimental Vehicle-to-Vehicle Communication Message Guidelines”, search date: November 16, 2015, URL <http: // www. itsforum. gr. jp / Public / J7 Database / p48 / ITS FORM RC-013 v10. pdf>

  When the information indicating the reliability of the position of the other vehicle 401 is used, the accuracy of the communication range A can be improved by excluding the other vehicle 401 whose reliability of the current position does not reach a certain value.

  FIG. 11 is a flowchart illustrating an example of a communication range learning process according to the embodiment. A processing example performed by the navigation device 300 of the host vehicle 400 will be described. First, the navigation apparatus 300 determines the learning start of the communication range A (step S1101). For example, when the vehicle has traveled in an area where the vehicle 400 has never traveled, or when the vehicle has traveled in the past and a period of time has elapsed, the navigation device 300 starts the learning process of the communication range A of the vehicle 400 To do.

  And the navigation apparatus 300 calculates the communicable range a based on the present position of the some other vehicle 401 which was able to communicate by vehicle-to-vehicle communication (step S1102). If creation of the communicable range a is successful (step S1103: Yes), the process proceeds to step S1104. If creation of the communicable range a is not successful (step S1103: No), the process proceeds to step S1105. In step S1105, it is determined that the creation of the communication range a has failed (step S1105), and the above processing ends.

  For example, the navigation device 300 determines that the communicable range a has been successfully created if the own vehicle 400 can communicate with at least one other vehicle 401, and the own vehicle 400 can communicate with the other vehicle 401. When the number is small (such as when no other vehicle 401 can communicate with other vehicles), it is determined that the communicable range a is not successfully created.

  In step S1104, the end of communication range learning is determined (step S1104). For example, the navigation apparatus 300 continues the learning process for a period until the host vehicle 400 travels a certain distance (step S1106: No), and returns to the process of step S1102. If the own vehicle 400 travels a certain distance, the learning process ends (step S1106: Yes), and the process proceeds to step S1107.

  In step S1107, the navigation apparatus 300 creates the communication range A of the host vehicle 400 based on the communicable range a (step S1107), and stores the communication range A in a memory or the like (step S1108). The memory stores the communication range A corresponding to the current position of the host vehicle 400. Thereafter, the navigation apparatus 300 can read a predetermined range A centered on the current position of the host vehicle 400 from the memory corresponding to the current position of the host vehicle 400.

  According to the learning of the communication range described above, it is possible to set the communication range of the inter-vehicle communication based on the communication environment when the host vehicle is actually run. As compared with a fixed communication range, a communication range corresponding to the actual current position can be obtained. Thereby, the position correction of the current position of the other vehicle (or the own vehicle) based on the communication range of the own vehicle can be performed with higher accuracy.

  In the embodiment described above, the navigation device is used as the information processing device, and the configuration in which the navigation device is mounted on the moving body (vehicle) is described as an example. However, as the vehicle on which the information processing device (navigation device) is mounted, It can be mounted not only on automobiles but also on bicycles and motorcycles.

  Moreover, although the Example demonstrated as a structure which provides a navigation apparatus in the own vehicle or another vehicle, terminal devices, such as a smart phone and a tablet, can also be used besides this.

  The information processing method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

DESCRIPTION OF SYMBOLS 100 Information processing apparatus 101 Determination part 102 Acquisition part 103 Correction | amendment part 300 Navigation apparatus 400 Own vehicle 401 (401a-401n) Other vehicle 410 Shielding object 411 Intersection A Communication range

Claims (12)

A determination means for determining a communication range in which the own vehicle can communicate with another vehicle by inter-vehicle communication;
Obtaining means for obtaining a current position of the other vehicle from the other vehicle;
If the acquired current position of the other vehicle is out of the communication range, the correction unit corrects the current position of the other vehicle so as to be within the communication range, and outputs the correction position;
An information processing apparatus comprising: The acquisition means further acquires the current position of the vehicle,
The correction means compares the position detection accuracy of the host vehicle with the position detection accuracy of the other vehicle and corrects the current position with the lower position detection accuracy. Information processing device.   The correction means corrects the current position of the other vehicle to be within the communication range when the position detection accuracy of the own vehicle is higher than the position detection accuracy of the other vehicle. The information processing apparatus according to claim 2.   When the position detection accuracy of the host vehicle is lower than the position detection accuracy of the other vehicle and the position detection accuracy of the other vehicle is more than a predetermined accuracy, The information processing apparatus according to claim 2, wherein the current position of the host vehicle is corrected so that the vehicle is positioned within a communication range of the host vehicle. The acquisition means acquires GPS satellite reception number and sensor error information from the own vehicle and the other vehicle,
The information processing apparatus according to claim 2, wherein the correction unit determines position detection accuracy of a current position based on the acquired information.   The correction means corrects the position of the other vehicle or the own vehicle to a position corresponding to the radio field intensity detected by the other vehicle, based on the communication range for each radio wave intensity. The information processing apparatus according to any one of the above. A determination means for determining a communication range in which the own vehicle can communicate with another vehicle by inter-vehicle communication;
Obtaining means for obtaining a current position of the other vehicle from the other vehicle;
When there is a high possibility that the acquired current position of the other vehicle is present at a predetermined incommunicable position within the communication range, the current position of the other vehicle is positioned at the incommunicable position. Correction means for correcting and outputting;
An information processing apparatus comprising:   When the other vehicle is moving and the ongoing communication is interrupted, the correcting means confirms whether there is a shield for communication between the vehicle and the other vehicle between the host vehicle and the other vehicle, and The information processing apparatus according to claim 7, wherein when there is an object, the other vehicle is corrected so as to be positioned at a shadow position of the shielding object.   The information processing apparatus according to claim 7, wherein the correction unit determines that an area where the communication is blocked by the shielding object when viewed from the own vehicle is the position where the communication is impossible. In the information processing method performed by the information processing apparatus,
A determination step of determining a communication range in which the vehicle can communicate with other vehicles by inter-vehicle communication;
An acquisition step of acquiring the current position of the other vehicle from the other vehicle;
If the acquired current position of the other vehicle is outside the communication range, a correction step for correcting the current position of the other vehicle to be located within the communication range, and outputting the correction position;
An information processing method comprising: In the information processing method performed by the information processing apparatus,
A determination step of determining a communication range in which the vehicle can communicate with other vehicles by inter-vehicle communication;
An acquisition step of acquiring the current position of the other vehicle from the other vehicle;
When there is a high possibility that the acquired current position of the other vehicle is present at a predetermined incommunicable position within the communication range, the current position of the other vehicle is positioned at the incommunicable position. A correction process for correcting and outputting;
An information processing method comprising:   An information processing program for causing a computer to execute the information processing method according to claim 10 or 11.

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